Gripping head for articles disposed in rows



March 23, 1965 E. J. M. DARDA'INE 393749791 GRIPPING HEAD FOR ARTICLES DISPOSED IN ROWS Filed June 12, 1962 s Sheets-Sheet 1 INVEN TOR EDGHR, JEAN, MARCEL D/mm/NE E. J. M. DARDAINE March 23, 1965 GRIPPING HEAD FOR ARTICLES DISPOSED IN ROWS Filed June 12, 1962 8 Sheets-Sheet 2 IN VE N TOP E 064R, JEAN, MARCEL D/IRDfl/NE 4 ORNE' Y5 March 23, 1965 E. J. M. DARDAINE 3,174,791

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GRIPPING HEAD FOR ARTICLES DISPOSED IN ROWS Filed June 12, 1962 8 Sheets-Sheet 8 55b 5 9 65b j V INVENTOR EDGAR,JEAN, MARCEL DARDAINE AT7/P.NE 5

United States Patent 3,174,791 GRIPPING IEAD FOR ARTIELES DISPOSED IN ROWE;

Edgar .lean Marcel Dardaine, Poissy, France, assignor to E. P. Remy 8; Cie, Poissy, France, a corporation of France Filed June 12, 1962, Ser. No. 201,979 Claims priority, application France, June 15, 1961, 865,250; Nov. 6, 1961, 878,060; Mar. 3, 1962,

14 Claims. on. ass-87.24

It is the essential object of this invention to provide a head for gripping miscellaneous articles such as bottles, flasks, boxes, separate parts, etc., arranged in parallel rows.

A gripping head of this general type is designed more particularly for equipping installations wherein articles of the general type set forth hereinabove are handled autom-atically, these installations being adapted for example either to encase articles or on the contrary to uncase them. In either case the articles to be handled, whether they are taken from cases to empty same, or on the contrary from a conveyer belt to fill empty cases, are disposed in spaced parallel rows. Therefore, to ensure a rapid handling excluding any breakage the gripping head must necessarily be capable of gripping several rows of articles per stroke, the actual gripping operation being effected in a single step only.

The gripping head according to this invention is remarkable notably in that it comprises, mounted on a common support and adapted to pivot about parallel axes, a first series of jaws or like devices coupled with each other and a second series of jaws interposed between those of the first series, the jaws of at least one series being connected to a control device whereby the jaws of one series constitute, with those of the other series, a plurality of grippers operating in synchronism.

According to another feature of this invention the aforesaid jaws consist preferably of small bars parallel to said pivot axes, the registering faces of any two bars which form together a gripper being provided with retaining means such as teeth, grooves, etc.

According to a further feature of this invention each small bar aforesaid is U-shaped and has secured on its ends two parallel arms rotatably mounted on the opposite edges of a plate constituting the aforesaid support.

It will be seen that the fact of using gripping members consisting of elements movable away or toward each other permits of utilizing a same head for handling a wide range of articles having different dimensions. Therefore, it is not necessary to provide a special gripping head for each type of article to be handled.

Other features and advantages of the present invention will appear as the following description proceeds with reference to the accompanying drawings illustrating diagrammatically by way of example typical embodiments of the gripping device constituting the subject-matter thereof. In the drawings:

FIGURE 1 is an elevational lateral view showing a gripping head according to this invention;

FIGURE 2 is a section taken upon the line IIII of FIGURE 3;

FIGURE 3 is a plane view from above of the gripping head;

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FIGURE 4 is an end view of the same head with a fragmentary section;

FIGURE 5 is a top view showing a gripping head according to a modified embodiment of the invention;

FIGURE 6 is a section taken upon the line VI-VI of FIGURE 5;

FIGURE 7 is an elevational view with parts broken away illustrating a gripping head according to an alternate embodiment, and

FIGURE 8 is a lateral view taken from the left-hand side of the device shown in FIGURE 7.

In the typical form of embodiment illustrated in FIG- URES 1 to 4 of the drawings the gripping head comprises a supporting plate 1 for example of rectangular configuration having arranged on each one of its lateral edges 1a and 1b a first series of arms 2a and 2b pivotally mounted about pins or bolts 3a, 3b parallel to each other, and a second series of arms 4a, 2b interposed between the arms 2a, 2b and also pivotally mounted on pins 5a, 5b parallel to each other and to the aforesaid pins 3a, 3b. The arms 4a, 4b are considerably shorter than the arms 2a, 2b, but all the arms are so mounted on the plate that their lower edges are substantially level. The arms disposed on either side of the supporting plate and having their geometrical axes of oscillation coincident with each other, are interconnected by pair by means of small bars or like members 6 secured on the lower ends of said arms and consisting of U-shaped angle members. These angle members are so directed that their openings register with each other by pairs. Each angle member has inserted between its flanges a strip 7 of rubber, synthetic material or the like, formed with sawtooth ribs or grooves in order to constitute a retaining member which is both flexible and rough-surfaced.

At their upper portions the arms 2a are pivoted on a rod 801 and the arms 2b are pivoted on a nod 81;. Similarly, the arms 4a and 4b are pivoted on rods 9a and 912, respectively. These rods 8a, 8b, 9a, 9b are of course parallel to the edges 1a and 1b of the supporting plate, and due to the greater length of arms 2a and 2b, the rods 8a and 8b overlie the rods 9a and 9b.

The rods 8a and 8b are rigidly interconnected by means of a cross rod 19 for example of T-shaped cross section which is disposed between the rod ends adjacent to the edge 1c of the supporting plate. Likewise, the rods 9a and 9b are rigidly interconnected by means of another cross rod 11 identical with cross rod It) and disposed between the ends of rods 9a and 9b which are adjacent to the edge Id of the supporting plate. If it is desired to have the two cross rods Ill and 11 disposed approximately in a common plane the dimensions of the last arm la or 4b may be so calculated as to be the same as those of arms 2a (or 21)) and the cross rod 111 may be secured on the upper ends of the thus elongated arms.

With this mounting it is possible to drive all the arms 2a, 2b simultaneously as well as the bars 6 solid there with, on the one hand, and all the arms 4a, 4b together with the bars 6 rigid therewith, on the other hand.

The two sets of arms 20, 2b and 4a, 4b are actuated by means of a control device disposed on the upper portion of each supporting plate I and comprising a small plate 12 of rectangular configuration which is welded on a pin 13 extending at right angles to the supporting plate 1 and is pivotally mounted between this plate, on the 35 one hand, and a bridge piece or like member 14 located slightly above the plate 12 in order to avoid any interference with the rotation thereof, on the other hand. Adequate bearings, for instance needle bearings 15 and 16, are provided to facilitate the rotation of the pin-and-plate assembly in relation to the support.

At either end of the plate 12 is provided with angle members 17a and 17b supported by distance-pieces 18a and 18b. The small plate 12, distance-pieces 18a, 18b and angle members 17a, 17b constitute a rigid assembly. Angle members 1% and 1%, similar to angle members 17a and 1712, are pivoted by means of pins 20a, 2% on lugs or like elements 21a and 21b secured on the cross rods 10 and 11, respectively, substantially intermediate their ends. The angle members 17a and 19a, on the one hand, and angle members 1712 and 19b, on the other hand, are assembled by means of screw-threaded rods 22 and 23 respectively, these rods being provided with adequate tightening nuts.

The head may be mounted on a movable carriage or like unit of the automatic handling installation by means of a shoe 24 rigid with the supporting plate. The pin 13 carries at its upper end a tenon or like element 25 for rotatably driving it from control members disposed on said movable carriage.

The gripping head described herei'nabove operates as follows:

When the pin 13 is rotated about its axis, it rotates the plate 12 which, through the medium of angle members 17a and 17b, threaded rods 22 and 23, and angle members 19a and 1%, moves the cross rods Ill and 11 away from and toward each other. This cross rod movement determines through the intermediary of rods 8a, 8b and 9a, 9b the pivoting movement of the set of arms 2a, 2b, on the one hand, and 4a, 4b, on the other hand in the opposite direction. The bars 6 are coupled by pairs in order to constitute a plurality of gripper jaws moving toward and away from each other and adapted to grip or on the contrary release an article. It will be readily understood that the set of jaws thus provided operates in synchronism and will grip or release simultaneously the articles. The relative spacing of the angle member may be adjusted by means of the nuts carried by the screw-threaded rods 22 and 23, so that the clamping pressure may be adjusted at .Will.

In the alternate embodiment illustrated in FIGURES 5 and 6 of the drawings the gripping head comprises a sup porting plate 24 for example of rectangular configuration which has disposed on each lateral edge 24a, 24!) a first series of arms 25a, 25b pivotally mounted on pins or shouldered screws such as 26a, and another series of arms 27a, 27b interposed between the arms 25a, 25b and also pivotally mounted on pins or bearing-forming screws such as 28a. The arms disposed on either side of the supporting plate 24 are interconnected by pairs by means of small bars or like members 29 secured onv the lower ends of said arms and consisting of angle members having an L-shaped cross-section. Each angle member has secured on one of its flanges a strip 30 of rubber, resilient plastic material or other material to provide a retaining surface for properly handling the bottles or other articles.

At their upper portions the arms 25a are pivoted on a rod 31a and the arms 25b are pivoted on another rod 31b. Similarly, the arms 27a and 27b are pivoted on rods 32a and 32b respectively.

The rods 31a, 31b on the one hand, and 32a, 32b, on the other hand, are rigidly interconnected by means of cross rods 33, 34, respectively.

The two series of arms 25a, 25b and 27a, 2712 are operated by means of a device disposed on the upper portion of the supporting plate 24 and comprising a member 35 of substantially circular configuration which is rotatably mounted on a shaft 36 disposed between the plate 24 and a shoe 37 rigid in turn with said plate 24. The member 4 35 is formed with or carries two cam members or like elements 38, 39 projecting from its outer contour and having approximately the shape of circular arcs eccentrically mounted in relation to the axis of revolution of said member 35. This member 35 is also provided with radially extending arms 4-0, 41 adapted to engage fixed or movable or adjustable stops (not shown). Said arms cause the member 35 to rotate about its axis when the gripping head moves past said stops. The rotation of member 35 is limited by a fiat portion 35' adapted, after a predetermined angular movement, to engage the shoe 37.

Both cam members 38 and 39 co-act with rollers 42, 43 carried by straps or like members 44, 45 secured on the cross rods 33 and 34. These straps are formed with elongated holes such as 46 receiving fixing screws 47 and 48 whereby they are adjustable relative to the cross rods 33 and 34. The straps may be accurately poistioned by means of adjustment screws 49, 50 carried by lugs 51 and 52 depending from the straps 44, 45 respectively.

The cross rods 33 and 34 are responsive to tension springs 53a, 53b and 54a, 54b attached on the one hand to said cross rods and on the other hand to the shoe 37. These springs urge the cross rods 33 and 34 toward each other and therefore the two series of arms 25 and 27 away from each other.

The gripping head according to this alternate embodiment operates as follows:

The tension springs 53, 54 constantly urgethe rollers 42, 43 in engagement with the cam faces or like members 38 and 39; when one of the arms 40 or 41, dur'mg the movement of translation of the gripping head, engages a stop (which may be for example a fixed stop), it carries along member 35 which, according to the direction in which it is thus rotated (that is, according to the relative position of this stop) will either move the cross rods 33 and 34 away from each other against the resistance of tension springs 53a, 53b, 54a, 54b, or on the contrary permit the movement of these two cross rods toward each other under the influence of the tension springs.

These movements of cross rods 33 and 34 determine through the rods 31a, 31b and 32a, 32b the pivoting movements in opposite directions of the two series of arms 25a, 25b and 27a, 27b. The small bars 29 move toward or away from each other to clamp or alternately release the articles to be handled.

It would not constitute a departure'from the present invention to provide resilient members which, instead of urging the cross rods toward each other, would tend to divaricate them, and to combine such resilient members with a cam or like member designed and mounted to close the jaws and thus keep the articles firmly clamped by the gripping head.

According to the modified embodiment illustrated in FIGURES 7 and 8 of the drawings the gripping member comprises a supporting plate 55 for example of rectangular configuration which has mounted along each lateral edge 55a and 55b a first series of arms 56a, 56b pivoting on parallel pins 57a, 57b, and another series of arms 58a, 58b pivoted on the same pins 57a, 57b. The arms 56a, 56b and 58a, 58b have bevelled lower ends and are interconnected by pairs by means of small bars or like members 59 of substantially trapezoidal configuration which are secured on said lower ends, as shown. These small bars consist of angle member-s preferably lined internally with strips of rubber, synthetic material or other suitable material, formed with sawtooth grooves or splines in order to constitute retaining members that are both flexible and rough-surfaced.

At their upper ends the arms 56a and 561) are pivoted with a certain play on rods 60a, 60b respectively, whereby the jaws may accommodate automatically the dimensions of the bottlenecks, in case these dimensions varied from one row of bottles to another. To this end the rods 6%. and 60b are formed with elongated holes such as 61:: adapted to receive screws 62a, 62b formed with a journal portion, or like members, rigid with the arms 56a, 56b. Each gripper comprises a return spring such as 64a, for instance in the form of a tension coil spring, which constantly urges the two arms of the gripper toward each other.

The rods 60:: and 60b are rigidly interconnected by means of a cross rod 63 which may be connected in turn to a control member, not shown, mounted on the upper portion of the supporting plate 55 and adapted to rotate the set of arms 56a, 56b about their axes.

Each arm 58a and 58b is provided with a stop 66a and 6611 respectively engaging the corresponding arm 5 6a and 5612, said stop being arranged to permit rotation of said arms away from each other against the action of springs 64a or 64b when a bottle is introduced between their respective bars. Further stops 65a and 65b are provided along the lateral edges 55a and 55b of the plate 55, each one of said stops engaging one of the arms 58a and 58b, respectively. Said stops are arranged to prevent the rotation of said arms 58a and 5812 when arms 56a, 56b rotate in counterclockwise direction upon translation of rods 6%, 60b from right to left.

The gripping member may be mounted on a movable carriage or the like of the automatic handling installation, by means of a shoe 67 rigid with each support.

This gripping device operates as follows:

The gripping member is moved to a position in which it overlies a crate containing the bottles or like articles to be handled, and is subsequently lowered until the jaws are positioned around the bottlenecks and the latter force the jaws away from each other against the resistance of the return springs. The bottles are thus clamped by the pressure exerted by these springs and they can be lifted bodily by simply raising the gripping head. To release the bottles, the jaws are opened by actuating their control member which, through the medium of cross rod 63 and rods 60a, 60b, causes the arms 56a, 56b to pivot about their axes against the resistance of the relevant springs.

Of course, many modifications and alterations may be brought to the forms of embodiment shown and described herein, without however departing from the spirit and scope of the invention. Thus, instead of tension coil springs, compression springs or other spring types may be used, for example leaf springs. Similarly, instead of providing a spring for each clamp, a spring common to all the arms of the second series may be used.

Of course, this invention should not be construed as being limited to the specific forms of embodiment shown and described herein, as these are given by way of example only.

What I claim is:

l. A gripping head for gripping miscellaneous articles such as bottles, flasks or the like, aligned in parallel rows comprising a substantially rectangular plate, a first and a second series of arms, the arms of each series being interconnected by pairs by means of bars secured at one end of said arms, the two arms constituting each pair being parallel one with the other, some of said arms of each series being rotatably mounted on one edge and the remaining arms of each series being rotatably mounted on the opposite edge of said plate, a pair of arms of one series being interposed between two pairs of arms or" the other series, the lower ends of said arms extending below said plate and the upper ends of said arms extending above said plate, a coupling rod pivotally connected to all of the arms of one of the series disposed on one edge of the plate and other coupling rods similarly connected to each of the other series of arms on each edge of the plate the coupling rods for each series of arms are each interconnected by a respective cross-rod, a control device disposed above said plate and connected to each cross-rod for movement of the latter toward and away from each other whereby said first series and said second series of arms are operated synchronously.

2. Gripping head according to claim 1, wherein said cross rod interconnecting the rods coupling in turn a series of arms is connected to one end of said rectangular plate, and the cross rod interconnecting the coupling rods of the other series of arms is located at the opposite end of said plate.

3. Gripping head according to claim 2, wherein the aforesaid coupling rods positioned on a same side of said rectangular plate overlie each other.

4. Gripping head according to claim 1, wherein said control device consists of a small plate or like member rigid with a shaft rotatably mounted on said supporting plate and having each end connected to said cross rods.

5. Gripping head according to claim 4, wherein said rotary small plate is connected to each one of said cross rods by means of a pair of rigidly interconnected angle members, said angle member being secured the one on said small plate and the other on said cross rod.

6. Gripping head according to claim 5, further comprising a screw-threaded rod for interconnecting said angle members whereby the relative distance of said angle members may be adjusted at will to vary the clamping pressure of said jaws as desired.

7. Gripping head according to claim 1, wherein said control device is rotatably mounted on said rectangular plate and is provided with two cam faces having a contour in the form of a circular arc eccentered in relation to the axis of said control device; said cam faces cooperating with rollers or like followers rigidly mounted on said cross rods.

8. Gripping head according to claim 7, wherein said rollers or like followers of said control device are mounted on straps or like members rigid with said cross rods and adjustable in relation thereto.

9. Gripping head according to claim 7, wherein said control device is provided with arms extending for example radially and co-operating with stop members adapted to carry along said control device when said gripping head moves past said stop members.

10. Gripping head according to claim 8, wherein the relative spacing between said straps and cross rods is determined by means of adjusting screws mounted on said straps and bearing against said cross rods.

11. A gripping head for gripping miscellaneous articles such as bottles, flasks or the like, aligned in parallel rows, comprising a substantially rectangular plate, a first and second series of arms, the arms of each series being interconnected by pairs by means of bars secured at one end of said arms, the two arms constituting each pair being parallel one with the other, some of said arms of each series being rotatably mounted on one edge and the remaining arm of each series being rotatably mounted on the opposite edge of said rectangular plate, each pair of arms of said first series and a coacting pair of arms of said second series having a common axis of rotation, the lower ends of said arms extending below said plate and the upper ends of the arms of said first series extending above said plate, spring means connected on the one hand to the bar interconnecting a pair of arms of said first series and on the other hand to the bar interconnecting a pair of arms of said second series, said pair of arms having a common axis of rotation, said spring means being provided for urging said bars toward each other and other spring means similarly connected to the other bars, a coupling rod pivotally connected to all of the arms of said first series disposed on one edge of the plate, a coupling rod connected to all of the arms of said first series disposed on the opposite edge of the plate, a cross-rod interconnecting said coupling rods, a control device disposed above said plate and connected to said cross-rod for movement of the latter, whereby said first series and said second series of arms are operated synchronously.

12.- A gripping head according to claim ll wherein said bars and said arms are provided with bevelled lower ends to facilitate their insertion between the rows of articles.

13. A gripping head according to claim 11 wherein at least one of the two arms of said, first series ofiarms constituting a pair is provided witha stop engaging the arm of the second series of armshaving the same axis of rotation and disposed on the same edge of the. plate, said stop being arranged to permit rotation of said arms away from each other when a bottle is engaged between their respective bars.

14. A gripping head according tovclaim 13 comprising further stops secured on at. least. onev edge of the plate each one of said further stops engaging one arm of said second. seriesof arms, saidstops being arranged to prevent the rotation of the arms of the second series of arms when the arms of the first? series of arms rotate in counterclockwise direction so as to permit the releasing of the. gripped'bottles.

References Cited by the Examiner UNITED STATES PATENTS 2,631,746 3/53 Holstebro 2 14-319 2,747,915 5/56 Mapes 294-8724 SAMUEL F. COLEMAN, Primary Examiner.

ANDRE H. NIELSEN, WILLIAM B. LA BORDE,

Examiners. 

1. A GRIPPING HEAD FOR GRIPPING MISCELLANEOUS ARTICLES SUCH AS BOTTLES, FLASKS OR THE LIKE, ALIGNED IN PARALLEL ROWS COMPRISING A SUBSTANTIALLY RECTANGULAR PLATE, A FIRST AND A SECOND SERIES OF ARMS, THE ARMS OF EACH SERIES BEING INTERCONNECTED BY PAIRS BY MEANS OF BARS SECURED AT ONE END OF SAID ARMS, THE TWO ARMS CONSTITUTING EACH PAIR BEING PARALLEL ONE WITH THE OTHER, SOME OF SAID ARMS OF EACH SERIES BEING ROTATABLY MOUNTED ON ONE EDGE AND THE REMAINING ARMS OF EACH SERIES BEING ROTATABLY MOUNTED ON THE OPPOSITE EDGE OF SAID PLATE, A PAIR OF ARMS OF ONE SERIES BEING INTERPOSED BETWEEN TWO PAIRS OF ARMS OF THE OTHER SERIES, THE LOWER ENDS OF SAID ARMS EXTENDING BELOW SAID PLATE AND THE UPPER ENDS OF SAID ARMS EXTENDING BELOW SAID PLATE, A COUPLING ROD PIVOTALLY CONNECTED TO ALL OF THE ARMS OF ONE OF THE SERIES DISPOSED ON ONE EDGE OF THE PLATE AND OTHER COUPLING RODS SIMILARLY CONNECTED TO EACH OF THE OTHER SERIES OF ARMS ON EACH EDGE OF THE PLATE THE COUPLING RODS FOR EACH SERIES OF ARMS EACH INTERCONNECTED BY A RESPECTIVE CROSS-ROD, A CONTROL DEVICE DISPOSED ABOVE SAID PLATE AND CONNECTED TO EACH CROSS-ROD FOR MOVEMENT OF THE LATTER TOWARD AND AWAY FROM EACH OTHER WHEREBY SAID FIRST SERIES AND SAID SECOND SERIES OF ARMS ARE OPERATED SYNCHRONOUSLY. 